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AC_AutoTune: print gains on axis completion

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Iampete1 2022-02-04 23:29:23 +00:00 committed by Randy Mackay
parent 8a7a22e707
commit 0e0f4c86dc
2 changed files with 5 additions and 0 deletions
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2
libraries/AC_AutoTune/AC_AutoTune.cpp
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@ -454,6 +454,8 @@ void AC_AutoTune::control_attitude()
// we've reached the end of a D-up-down PI-up-down tune type cycle // we've reached the end of a D-up-down PI-up-down tune type cycle
next_tune_type(tune_type, true); next_tune_type(tune_type, true);
report_final_gains(axis);
// advance to the next axis // advance to the next axis
bool complete = false; bool complete = false;
switch (axis) { switch (axis) {

3
libraries/AC_AutoTune/AC_AutoTune.h
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@ -174,6 +174,9 @@ protected:
// return current axis string // return current axis string
const char *axis_string() const; const char *axis_string() const;
// report final gains for a given axis to GCS
virtual void report_final_gains(AxisType test_axis) const = 0;
// Functions added for heli autotune // Functions added for heli autotune
// Add additional updating gain functions specific to heli // Add additional updating gain functions specific to heli